Test on realsense RI

xuhao1 · Oct 29, 2022 · b84c93a · b84c93a
1 parent ffa17ec
commit b84c93a
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/launch/taichislam-d435.launch b/launch/taichislam-d435.launch
@@ -40,7 +40,7 @@
         <!-- <remap from="~image" to="/camera/color/image_raw/compressed" /> -->
 
         <rosparam>
-            disp_ceiling: 2.0
+            disp_ceiling: 1.8
             disp_floor: -0.5
             texture_compressed: true
             voxel_size: 0.1

diff --git a/scripts/taichislam_node.py b/scripts/taichislam_node.py
@@ -62,6 +62,7 @@ def init_params(self):
         self.enable_submap = rospy.get_param('~enable_submap', False)
         self.enable_multi = rospy.get_param('~enable_multi', True)
         self.drone_id = rospy.get_param('~drone_id', 1)
+        self.keyframe_step = rospy.get_param('~keyframe_step', 10) #Steps to generate submap
 
         fx_dep = rospy.get_param('Kdepth/fx', 384.2377014160156)
         fy_dep = rospy.get_param('Kdepth/fy', 384.2377014160156)
@@ -144,7 +145,7 @@ def get_general_mapping_opts(self):
         max_ray_length = rospy.get_param('~max_ray_length', 5.1)
         min_ray_length = rospy.get_param('~min_ray_length', 0.3)
         disp_ceiling = rospy.get_param('~disp_ceiling', 1.8)
-        disp_floor = rospy.get_param('~disp_floor', 1.8)
+        disp_floor = rospy.get_param('~disp_floor', -0.3)
         octo_opts = {
             'texture_enabled': self.texture_enabled, 
             'max_disp_particles': max_disp_particles, 
@@ -187,11 +188,11 @@ def initial_mapping(self):
             if self.mapping_type == "octo":
                 gopts = self.get_octo_opts()
                 subopts = self.get_submap_opts()
-                self.mapping = SubmapMapping(Octomap, global_opts=gopts, sub_opts=subopts)
+                self.mapping = SubmapMapping(Octomap, global_opts=gopts, sub_opts=subopts, keyframe_step=self.keyframe_step)
             else:
                 gopts = self.get_sdf_opts()
                 subopts = self.get_submap_opts()
-                self.mapping = SubmapMapping(DenseTSDF, global_opts=gopts, sub_opts=subopts)
+                self.mapping = SubmapMapping(DenseTSDF, global_opts=gopts, sub_opts=subopts, keyframe_step=self.keyframe_step)
                 if self.enable_mesher:
                     self.mesher = MarchingCubeMesher(self.mapping.submap_collection, self.max_mesh, tsdf_surface_thres=self.voxel_size*5)
             self.mapping.map_send_handle = self.send_submap_handle